{"id":"https://openalex.org/W3193905726","doi":"https://doi.org/10.1109/tcyb.2021.3091531","title":"Adaptive Prescribed Performance Control of A Flexible-Joint Robotic Manipulator With Dynamic Uncertainties","display_name":"Adaptive Prescribed Performance Control of A Flexible-Joint Robotic Manipulator With Dynamic Uncertainties","publication_year":2021,"publication_date":"2021-08-16","ids":{"openalex":"https://openalex.org/W3193905726","doi":"https://doi.org/10.1109/tcyb.2021.3091531","mag":"3193905726","pmid":"https://pubmed.ncbi.nlm.nih.gov/34398779"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2021.3091531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2021.3091531","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065418197","display_name":"Hui Ma","orcid":"https://orcid.org/0000-0003-1188-9303"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hui Ma","raw_affiliation_strings":["School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100782873","display_name":"Qi Zhou","orcid":"https://orcid.org/0000-0001-7237-4659"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Zhou","raw_affiliation_strings":["School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100413697","display_name":"Hongyi Li","orcid":"https://orcid.org/0000-0002-7590-7411"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyi Li","raw_affiliation_strings":["School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110403096","display_name":"Renquan Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Renquan Lu","raw_affiliation_strings":["School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5065418197"],"corresponding_institution_ids":["https://openalex.org/I139024713"],"apc_list":null,"apc_paid":null,"fwci":25.9315,"has_fulltext":false,"cited_by_count":287,"citation_normalized_percentile":{"value":0.99892572,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"52","issue":"12","first_page":"12905","last_page":"12915"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.8816624879837036},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8289463520050049},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6219867467880249},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5968157649040222},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5461848378181458},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5326798558235168},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.49577435851097107},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4957064390182495},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.479867160320282},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4661983549594879},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4463101923465729},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4064319133758545},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3266220688819885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30834662914276123},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07834890484809875}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8816624879837036},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8289463520050049},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6219867467880249},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5968157649040222},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5461848378181458},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5326798558235168},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49577435851097107},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4957064390182495},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.479867160320282},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4661983549594879},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4463101923465729},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4064319133758545},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3266220688819885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30834662914276123},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07834890484809875},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005246","descriptor_name":"Feedback","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D017143","descriptor_name":"Fuzzy Logic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017143","descriptor_name":"Fuzzy Logic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017143","descriptor_name":"Fuzzy Logic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D065287","descriptor_name":"Robotic Surgical Procedures","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2021.3091531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2021.3091531","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cybernetics","raw_type":"journal-article"},{"id":"pmid:34398779","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34398779","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.75}],"awards":[{"id":"https://openalex.org/G6351919727","display_name":null,"funder_award_id":"62033003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6398386560","display_name":null,"funder_award_id":"61973091","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W1967964192","https://openalex.org/W1981174120","https://openalex.org/W1996340840","https://openalex.org/W2012655144","https://openalex.org/W2015977900","https://openalex.org/W2017382559","https://openalex.org/W2028245852","https://openalex.org/W2030954557","https://openalex.org/W2076597241","https://openalex.org/W2081341054","https://openalex.org/W2096908218","https://openalex.org/W2159130301","https://openalex.org/W2162061008","https://openalex.org/W2167533089","https://openalex.org/W2170346869","https://openalex.org/W2227996366","https://openalex.org/W2337290239","https://openalex.org/W2474848253","https://openalex.org/W2479280896","https://openalex.org/W2523356919","https://openalex.org/W2591999327","https://openalex.org/W2598092988","https://openalex.org/W2598858562","https://openalex.org/W2601030518","https://openalex.org/W2606135340","https://openalex.org/W2619413192","https://openalex.org/W2747580379","https://openalex.org/W2758332449","https://openalex.org/W2777065655","https://openalex.org/W2789389695","https://openalex.org/W2894812270","https://openalex.org/W2895632869","https://openalex.org/W2896817070","https://openalex.org/W2897673399","https://openalex.org/W2906939309","https://openalex.org/W2909439125","https://openalex.org/W2913173906","https://openalex.org/W2913912362","https://openalex.org/W2960727763","https://openalex.org/W2987619816","https://openalex.org/W2995409103","https://openalex.org/W2995707071","https://openalex.org/W3002244917","https://openalex.org/W3011116059","https://openalex.org/W3015164537","https://openalex.org/W3021399679","https://openalex.org/W3037363329","https://openalex.org/W3040925116","https://openalex.org/W3046330465","https://openalex.org/W3094796089","https://openalex.org/W3097459725","https://openalex.org/W3116654160","https://openalex.org/W3118402763","https://openalex.org/W6746825503","https://openalex.org/W6757694785","https://openalex.org/W6780423871","https://openalex.org/W6781436204","https://openalex.org/W6784860667","https://openalex.org/W6788632449","https://openalex.org/W6788648668"],"related_works":["https://openalex.org/W1847613412","https://openalex.org/W2376449068","https://openalex.org/W2972367213","https://openalex.org/W4382203996","https://openalex.org/W4365392829","https://openalex.org/W2100998971","https://openalex.org/W2002811656","https://openalex.org/W2990087644","https://openalex.org/W4320038209","https://openalex.org/W2104457306"],"abstract_inverted_index":{"An":[0],"adaptive":[1],"fuzzy":[2],"control":[3,39,68,91,110],"strategy":[4],"is":[5,22,41,50,70],"proposed":[6],"for":[7,101],"a":[8,31,47,122],"single-link":[9],"flexible-joint":[10],"robotic":[11],"manipulator":[12],"(SFRM)":[13],"with":[14],"prescribed":[15,129],"performance,":[16],"in":[17,104],"which":[18],"the":[19,26,34,38,45,54,60,64,66,74,90,105,116,128,133,136,145],"unknown":[20],"nonlinearity":[21],"identified":[23],"by":[24],"adopting":[25],"fuzzy-logic":[27],"system.":[28,107],"By":[29],"designing":[30],"performance":[32,36,130],"function,":[33],"transient":[35],"of":[37,63,125,135],"system":[40],"guaranteed.":[42],"To":[43,57],"stabilize":[44],"SFRM,":[46],"dynamic":[48],"signal":[49],"applied":[51,86],"to":[52,88,121,143],"handle":[53],"unmodeled":[55],"dynamics.":[56],"cut":[58],"down":[59],"communication":[61],"load":[62],"channel,":[65],"event-triggered":[67,147],"law":[69],"developed":[71],"based":[72],"on":[73],"switching":[75],"threshold":[76],"strategy.":[77,92],"The":[78,93,108],"Lyapunov":[79],"stability":[80],"theory":[81],"and":[82],"backstepping":[83],"technique":[84],"are":[85,141],"coordinately":[87],"design":[89],"semiglobally":[94],"ultimately":[95],"uniformly":[96],"boundedness":[97],"can":[98,112,119],"be":[99],"ensured":[100],"all":[102],"signals":[103],"closed-loop":[106],"designed":[109,146],"method":[111],"also":[113],"guarantee":[114],"that":[115],"tracking":[117],"error":[118],"converge":[120],"small":[123],"neighborhood":[124],"zero":[126],"within":[127],"boundaries.":[131],"At":[132],"end":[134],"article,":[137],"two":[138],"illustrative":[139],"examples":[140],"shown":[142],"validate":[144],"controller.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":18},{"year":2025,"cited_by_count":82},{"year":2024,"cited_by_count":74},{"year":2023,"cited_by_count":61},{"year":2022,"cited_by_count":46},{"year":2021,"cited_by_count":6}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}